version: 66.14
glider: 640
mission: 5
dive: 228
start: 1 8 119 12 49 6
data:
$ID,640
$MISSION,5
$DIVE,228
$N_DIVES,300
$STOP_T,1101912
$D_SURF,3
$D_FLARE,3
$D_TGT,350
$D_ABORT,420
$D_NO_BLEED,29
$D_BOOST,20
$T_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,140
$T_MISSION,220
$T_ABORT,250
$T_TURN,500
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,3600
$T_SLOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,0
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,54260
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.0101
$HD_C,9.8500004e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,-5400
$TGT_DEFAULT_LON,0
$TGT_AUTO_DEFAULT,0
$SM_CC,220
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,2
$NOCOMM_ACTION,259
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,400000
$HEAPDBG,0
$T_GPS,15
$N_GPS,100840
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,312
$PITCH_MAX,3939
$C_PITCH,2400
$PITCH_DBAND,0.0099999998
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,34
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,217
$ROLL_MAX,3851
$ROLL_DEG,40
$C_ROLL_DIVE,2100
$C_ROLL_CLIMB,2150
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,56
$R_STBD_OVSHOOT,28
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,602
$VBD_MAX,3962
$C_VBD,2720
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,20
$AH0_24V,310
$AH0_10V,0
$MINV_24V,11.5
$MINV_10V,10
$MAXI_24V,3
$MAXI_10V,2
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-153.19165
$PRESSURE_SLOPE,0.000109596
$AD7714Ch0Gain,1
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097655999
$INT_PRESSURE_YINT,-0.60000002
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,53
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0044042631
$SEABIRD_T_H,0.0006412621
$SEABIRD_T_I,2.6024412e-05
$SEABIRD_T_J,3.2462635e-06
$SEABIRD_C_G,-10.007382
$SEABIRD_C_H,1.1528281
$SEABIRD_C_I,-0.0017483447
$SEABIRD_C_J,0.0001971516
$SEABIRD_C_Z,2950.7202
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$SC_NDIVE,1.0
$GPS1,080119,124331,-6008.6440,-2.1607,13,0.9,31,-19.7,0.8,208.2,10,8.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-67.2
$GPS2,080119,124847,-6008.6289,-2.0887,10,0.9,18,-19.7,0.9,91.1,10,10.0
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,NORTH
$TGT_LATLONG,-5940.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,20.2,53056,-15.5,-8.333,-18.82,2677
$D_GRID,350
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,vbd_pot1_ad,vbd_pot2_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts,int_press,humidity
$STATE,8,end surface,CONTROL_FINISHED_OK
$STATE,8,begin dive
$GC,10,-0.64,-146.0,215,2075,1797,1825,0.0,0.0,0,96,0.00,0.00,-83.55,0.000,16386,0.000,0.000,215,2070,3130,3211,3049,0,0,0,0,0,0,14.61,28.83,14.61,6.18,50.94
$GC,98,-0.64,-146.0,215,2075,3211,3051,3.1,-6.0,17,116,6.05,2.62,-7.25,0.000,18948,0.349,2.248,2193,726,3317,3413,3222,0,0,0,0,0,0,14.17,13.24,14.45,6.28,49.60
$GC,171,-0.64,-146.0,2194,726,3414,3225,14.5,-16.2,32,175,0.00,2.40,0.00,0.000,3078,0.000,0.054,2184,2103,3318,3413,3224,0,0,0,0,0,0,14.42,14.36,14.44,6.31,48.77
$GC,296,-0.64,-146.0,2184,2104,3414,3225,36.5,-17.8,57,300,0.00,2.42,0.00,0.000,2564,0.000,0.065,2184,709,3318,3413,3224,0,0,0,0,0,0,14.65,14.40,14.65,6.31,49.29
$GC,401,-0.64,-146.0,2184,710,3414,3226,54.5,-15.7,78,406,0.05,2.42,0.00,0.000,3078,0.364,0.057,2189,2102,3319,3414,3225,0,0,0,0,0,0,14.21,14.42,14.39,6.31,49.48
$GC,527,-0.64,-146.0,2190,2102,3414,3225,73.6,-14.4,103,531,0.00,2.47,0.00,0.000,2308,0.000,0.083,2179,3511,3319,3413,3225,0,0,0,0,0,0,14.69,14.43,14.69,6.30,49.17
$GC,551,-0.64,-146.0,2180,3511,3414,3224,77.4,-15.0,108,555,0.00,2.35,0.00,0.000,3078,0.000,0.044,2178,2130,3318,3413,3224,0,0,0,0,0,0,14.51,14.47,14.53,6.30,49.17
$GC,676,-0.64,-146.0,2180,2130,3414,3226,96.0,-14.9,133,680,0.00,2.53,0.00,0.000,2564,0.000,0.063,2179,690,3318,3413,3224,0,0,0,0,0,0,14.71,14.45,14.72,6.30,48.74
$GC,701,-0.64,-146.0,2179,691,3414,3225,99.8,-15.4,138,706,0.08,2.45,0.00,0.000,3078,0.324,0.057,2204,2100,3319,3413,3225,0,0,0,0,0,0,14.31,14.47,14.52,6.30,49.09
$GC,826,-0.64,-146.0,2204,2101,3415,3225,116.8,-13.3,145,830,0.00,2.50,0.00,0.000,4356,0.000,0.083,2194,3504,3319,3413,3225,0,0,0,0,0,0,14.74,14.45,14.74,6.29,48.81
$GC,861,-0.64,-146.0,2195,3505,3415,3223,119.4,-13.2,146,865,0.00,2.40,0.00,0.000,1030,0.000,0.044,2194,2089,3318,3413,3224,0,0,0,0,0,0,14.54,14.50,14.56,6.29,48.66
$GC,1166,-0.64,-146.0,2194,2089,3415,3225,162.1,-12.9,162,1167,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2088,3319,3413,3225,0,0,0,0,0,0,14.78,14.78,14.78,6.30,49.92
$GC,1467,-0.64,-146.0,2195,2088,3415,3224,198.1,-11.9,177,1467,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2088,3319,3413,3225,0,0,0,0,0,0,14.80,14.81,14.81,6.31,51.26
$GC,1766,-0.64,-146.0,2195,2089,3414,3225,234.5,-12.3,192,1771,0.00,2.45,0.00,0.000,516,0.000,0.063,2194,689,3319,3413,3225,0,0,0,0,0,0,14.83,14.54,14.83,6.32,51.14
$GC,1816,-0.64,-146.0,2195,689,3415,3224,239.6,-12.5,194,1820,0.00,2.42,0.00,0.000,3078,0.000,0.056,2183,2105,3318,3413,3224,0,0,0,0,0,0,14.61,14.55,14.64,6.33,51.45
$GC,2126,-0.64,-146.0,2184,2099,3414,3224,279.8,-12.6,210,2130,0.00,2.47,0.00,0.000,2308,0.000,0.082,2173,3499,3319,3413,3225,0,0,0,0,0,0,14.84,14.54,14.84,6.33,51.85
$GC,2161,-0.64,-146.0,2173,3499,3413,3226,282.4,-12.7,211,2166,0.05,2.35,0.00,0.000,3078,0.342,0.043,2202,2097,3318,3413,3224,0,0,0,0,0,0,14.40,14.59,14.63,6.33,51.26
$GC,2466,-0.64,-146.0,2203,2096,3415,3225,319.8,-11.4,227,2470,0.00,2.40,0.00,0.000,4612,0.000,0.064,2201,695,3318,3413,3224,0,0,0,0,0,0,14.84,14.59,14.85,6.33,51.22
$GC,2501,-0.64,-146.0,2203,695,3414,3224,322.2,-11.5,228,2505,0.00,2.40,0.00,0.000,1030,0.000,0.056,2193,2093,3318,3413,3224,0,0,0,0,0,0,14.63,14.57,14.66,6.33,52.04
$STATE,2725,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2725,begin apogee
$GC,2729,-0.15,0.0,2193,2179,3414,3226,350.0,-11.6,240,2860,0.45,0.00,127.57,1.593,10246,0.263,0.000,2353,2179,2716,2777,2656,0,0,0,0,0,0,14.42,13.94,13.33,6.34,51.33
$STATE,2861,end apogee,CONTROL_FINISHED_OK
$STATE,2861,begin loiter
$GC,3146,-0.15,0.0,2353,2180,2772,2644,345.5,3.4,261,3147,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2179,2707,2772,2643,0,0,0,0,0,0,14.57,14.57,14.57,6.28,50.63
$GC,3446,-0.15,0.0,2354,2180,2773,2641,334.7,3.7,276,3447,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2179,2706,2772,2641,0,0,0,0,0,0,14.71,14.71,14.71,6.29,51.18
$GC,3746,-0.15,0.0,2354,2180,2773,2640,323.5,3.8,291,3747,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2179,2706,2772,2640,0,0,0,0,0,0,14.80,14.81,14.81,6.29,51.18
$GC,4046,-0.15,0.0,2354,2180,2772,2640,312.6,3.6,306,4047,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2179,2705,2772,2639,0,0,0,0,0,0,14.85,14.86,14.86,6.28,51.29
$GC,4346,-0.15,0.0,2354,2180,2772,2640,302.0,3.5,321,4347,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2179,2705,2771,2639,0,0,0,0,0,0,14.90,14.90,14.90,6.29,51.06
$GC,4646,-0.15,0.0,2354,2180,2773,2638,291.6,3.4,336,4647,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2179,2704,2771,2638,0,0,0,0,0,0,14.94,14.94,14.94,6.28,51.29
$GC,4946,-0.15,0.0,2354,2180,2772,2639,281.4,3.5,351,4947,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2179,2705,2772,2638,0,0,0,0,0,0,14.96,14.97,14.97,6.28,51.37
$GC,5246,-0.15,0.0,2354,2180,2773,2638,271.3,3.3,366,5247,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2179,2704,2771,2638,0,0,0,0,0,0,14.98,14.98,14.98,6.28,51.10
$GC,5546,-0.15,0.0,2354,2180,2773,2638,261.0,3.4,381,5547,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2179,2704,2771,2638,0,0,0,0,0,0,15.00,15.00,15.00,6.28,51.37
$GC,5846,-0.15,0.0,2354,2180,2773,2638,250.9,3.3,396,5847,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2179,2705,2772,2638,0,0,0,0,0,0,15.02,15.02,15.02,6.28,51.26
$GC,6146,-0.15,0.0,2354,2180,2773,2638,241.5,2.9,411,6147,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2179,2704,2771,2638,0,0,0,0,0,0,15.02,15.03,15.03,6.27,51.45
$STATE,6445,end loiter,LOITER_COMPLETE
$STATE,6445,begin climb
$GC,6446,0.64,146.0,2355,2180,2773,2638,233.2,0.0,426,6586,0.60,2.50,131.10,1.431,11012,0.172,0.080,2596,3533,2118,2144,2092,0,0,0,0,0,0,14.66,14.00,13.47,6.28,51.29
$GC,6611,0.65,153.5,2596,3532,2143,2083,223.1,8.0,434,6622,0.00,2.40,6.93,1.353,9222,0.000,0.042,2606,2153,2093,2119,2068,0,0,0,0,0,0,14.14,14.09,13.47,6.24,49.09
$GC,6921,0.65,153.5,2607,2154,2110,2053,186.7,11.8,449,6926,0.00,2.53,0.00,0.000,516,0.000,0.067,2617,742,2080,2108,2053,0,0,0,0,0,0,14.57,14.31,14.57,6.23,50.39
$GC,6941,0.65,153.5,2618,743,2106,2054,184.4,11.7,450,6946,0.00,2.40,0.00,0.000,5126,0.000,0.054,2618,2119,2079,2106,2052,0,0,0,0,0,0,14.43,14.33,14.40,6.23,50.39
$GC,7261,0.65,153.5,2618,2119,2105,2050,144.7,12.5,466,7265,0.00,2.45,0.00,0.000,4612,0.000,0.067,2628,741,2076,2103,2050,0,0,0,0,0,0,14.69,14.42,14.69,6.24,50.90
$GC,7366,0.65,153.5,2628,742,2102,2050,133.7,10.8,471,7371,0.05,2.42,0.00,0.000,5126,0.304,0.054,2609,2152,2075,2102,2049,0,0,0,0,0,0,14.26,14.42,14.42,6.25,50.98
$GC,7681,0.65,153.5,2609,2148,2103,2049,102.1,9.2,487,7685,0.00,2.50,0.00,0.000,260,0.000,0.084,2609,3546,2075,2102,2048,0,0,0,0,0,0,14.77,14.47,14.81,6.22,50.03
$GC,7771,0.65,153.5,2609,3547,2103,2049,93.1,9.8,499,7776,0.00,2.35,0.00,0.000,5126,0.000,0.043,2618,2152,2075,2102,2048,0,0,0,0,0,0,14.57,14.53,14.59,6.22,50.15
$GC,7897,0.65,153.5,2618,2153,2102,2049,80.0,11.1,524,7901,0.00,2.45,0.00,0.000,4612,0.000,0.067,2629,735,2075,2102,2048,0,0,0,0,0,0,14.78,14.52,14.78,6.21,49.25
$GC,7936,0.65,153.5,2629,736,2102,2047,75.6,10.8,532,7941,0.08,2.40,0.00,0.000,5126,0.327,0.056,2602,2150,2074,2101,2047,0,0,0,0,0,0,14.40,14.52,14.60,6.21,49.80
$GC,8061,0.65,153.5,2602,2154,2101,2048,62.5,10.3,557,8065,0.00,2.50,0.00,0.000,2308,0.000,0.084,2602,3562,2074,2101,2047,0,0,0,0,0,0,14.78,14.50,14.79,6.20,49.76
$GC,8121,0.65,153.5,2603,3555,2102,2047,56.2,10.4,569,8125,0.00,2.38,0.00,0.000,5126,0.000,0.043,2611,2148,2074,2101,2048,0,0,0,0,0,0,14.59,14.55,14.62,6.20,48.77
$GC,8246,0.65,153.5,2611,2149,2101,2048,43.4,10.4,594,8250,0.00,2.47,0.00,0.000,4612,0.000,0.067,2622,743,2074,2101,2047,0,0,0,0,0,0,14.80,14.47,14.81,6.20,49.21
$GC,8291,0.65,153.5,2623,744,2101,2047,38.8,10.6,603,8296,0.00,2.42,0.00,0.000,5126,0.000,0.054,2622,2154,2073,2100,2046,0,0,0,0,0,0,14.58,14.53,14.62,6.20,49.56
$GC,8417,0.65,153.5,2622,2155,2100,2047,25.9,9.7,628,8421,0.00,2.45,0.00,0.000,4356,0.000,0.085,2622,3555,2073,2100,2046,0,0,0,0,0,0,14.80,14.53,14.79,6.20,49.48
$GC,8461,0.65,153.5,2623,3556,2101,2046,21.2,10.8,637,8465,0.05,2.38,0.00,0.000,5126,0.323,0.044,2612,2146,2073,2100,2046,0,0,0,0,0,0,14.37,14.59,14.52,6.20,50.27
$GC,8587,0.65,153.5,2613,2145,2101,2045,9.5,8.8,662,8591,0.00,2.42,0.00,0.000,4612,0.000,0.069,2622,744,2072,2100,2045,0,0,0,0,0,0,14.81,14.54,14.81,6.20,50.27
$GC,8651,0.65,153.5,2622,744,2100,2045,4.7,9.2,675,8656,0.03,2.42,0.00,0.000,5126,0.408,0.056,2611,2153,2071,2098,2045,0,0,0,0,0,0,14.33,14.53,14.51,6.20,50.35
$STATE,8670,end climb,SURFACE_DEPTH_REACHED
$STATE,8670,begin surface coast
$STATE,8695,end surface coast,CONTROL_FINISHED_OK
$STATE,8695,begin surface
$SM_CCo,8708,60.33,0.245,0,0,1821,220.03
$SM_GC,1.05,5.72,0.08,60.33,0.119,0.162,0.245,237,2075,1821,-6.49,1.07,220.03,0,0,0,0,0,0,14.62,14.58,14.34
$IRIDIUM_FIX,-6010.01,-4.32,080119,101155
$TT8_MAMPS,0.039697,0.328811
$HUMID,49.76
$INTERNAL_PRESSURE,6.11873
$TCM_TEMP,0.00
$XPDR_PINGS,0
$SC_FREEKB,3804128
$24V_AH,13.24,47.245
$10V_AH,13.64,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,13.200,83.100,265.600,60.325,0.000,24.833,27.940,128.207,0.000,0.000,19.151,0.000,6981.487,429.632,1549.829,127.414,0.000,1037.379,0.000,1091.568,0.000,0.540,0.000
$DEVICE_MAMPS,407.745,2247.570,1592.730,244.800,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5108.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.822,0.000,0.000,0.000
$MEM,344108
$DATA_FILE_SIZE,17327,684
$CAP_FILE_SIZE,91810,0
$CFSIZE,1023623168,997064704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.027,205.88,1
$GPS,080119,151619,-6008.184,-2.169,18,0.8,41,-19.7,0.5,145.4,10,7.5